multiple_zed2i.launch.py

import os

from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource

# replace serials with your owns
SERIALS = {0: "<serial 1>", 1: "<serial 2>", 2: "<serial 3>", 3: "<serial 4>"}


def generate_launch_description() -> LaunchDescription:
    # Camera model (force value)
    camera_model = "zed2i"
    num_zed = 4

    # Define LaunchDescription variable
    ld = LaunchDescription()

    for idx in range(num_zed):
        # ZED Wrapper node
        zed_wrapper_launch = IncludeLaunchDescription(
            launch_description_source=PythonLaunchDescriptionSource(
                [
                    get_package_share_directory("zed_wrapper"),
                    "/launch/include/zed_camera.launch.py",
                ]
            ),
            launch_arguments={
                "camera_model": camera_model,
                "camera_name": f"{camera_model}{idx}",
                "zed_id": str(idx),
                "serial_number": SERIALS[idx],
            }.items()
        )
        # Add nodes to LaunchDescription
        ld.add_action(zed_wrapper_launch)

    return ld